From 4a5a066f55082f941f0a3d4a4ff385ee36c5abcb Mon Sep 17 00:00:00 2001 From: Daisuke Sato <43101027+daisukes@users.noreply.github.com> Date: Thu, 19 Dec 2024 00:02:41 -0500 Subject: [PATCH] fix missing environment variables (#198) * fix missing environment variables Signed-off-by: Daisuke Sato * add comments to docker compose files Signed-off-by: Masayuki Murata --------- Signed-off-by: Daisuke Sato Signed-off-by: Masayuki Murata Co-authored-by: Masayuki Murata --- docker-compose-bag.yaml | 8 +++++++- docker-compose-gnss.yaml | 33 ++++++++++++++++++------------ docker-compose-mapping-gazebo.yaml | 5 +++++ docker-compose-mapping.yaml | 12 +++++++++++ 4 files changed, 44 insertions(+), 14 deletions(-) diff --git a/docker-compose-bag.yaml b/docker-compose-bag.yaml index c75adfcb..1bc7067a 100644 --- a/docker-compose-bag.yaml +++ b/docker-compose-bag.yaml @@ -27,13 +27,19 @@ services: - XAUTHORITY=/tmp/.docker.xauth - NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video,display - NVIDIA_VISIBLE_DEVICES=all - - ROS_LOG_DIR - CABOT_ROSBAG_BACKEND - CABOT_ROSBAG_COMPRESSION - CABOT_ROSBAG_RECORD_CAMERA - CABOT_ROSBAG_SEPARATE_LOG - CABOT_SHOW_ROS2_LOCAL_RVIZ +# ROS2/DDS + - ROS_LOG_DIR - RMW_IMPLEMENTATION + - ROS_LOCALHOST_ONLY + - ROS_DOMAIN_ID + - CYCLONEDDS_URI + - CYCLONEDDS_NETWORK_INTERFACE_NAME + - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE # set automatically by launch.sh volumes: # device, bluetooth - /dev:/dev diff --git a/docker-compose-gnss.yaml b/docker-compose-gnss.yaml index 7c8b1e20..4b0c7dd5 100644 --- a/docker-compose-gnss.yaml +++ b/docker-compose-gnss.yaml @@ -23,21 +23,28 @@ services: build: context: ./cabot-navigation/docker/localization environment: - NTRIP_CLIENT: ${NTRIP_CLIENT} - NTRIP_CLIENT_START_AT_LAUNCH: ${NTRIP_CLIENT_START_AT_LAUNCH:-0} - GNSS_NODE_START_AT_LAUNCH: ${GNSS_NODE_START_AT_LAUNCH:-1} + - NTRIP_CLIENT + - NTRIP_CLIENT_START_AT_LAUNCH=${NTRIP_CLIENT_START_AT_LAUNCH:-0} + - GNSS_NODE_START_AT_LAUNCH=${GNSS_NODE_START_AT_LAUNCH:-1} # rtklib - RTK_STR_IN: ${RTK_STR_IN} - CABOT_SITE: ${CABOT_SITE} # if RTK_STR_IN is not specified, RTK_STR_IN will be loaded from CABOT_SITE - BAUD_UBLOX: ${BAUD_UBLOX:-230400} + - RTK_STR_IN + - CABOT_SITE # if RTK_STR_IN is not specified, RTK_STR_IN will be loaded from CABOT_SITE + - BAUD_UBLOX=${BAUD_UBLOX:-230400} # ntrip_client - NTRIP_HOST: ${NTRIP_HOST} - NTRIP_PORT: ${NTRIP_PORT:-2101} - NTRIP_MOUNTPOINT: ${NTRIP_MOUNTPOINT} - NTRIP_AUTHENTIFICATE: ${NTRIP_AUTHENTIFICATE} - NTRIP_USERNAME: ${NTRIP_USERNAME} - NTRIP_PASSWORD: ${NTRIP_PASSWORD} - NTRIP_STR2STR_RELAY_BACK: ${NTRIP_STR2STR_RELAY_BACK:-0} + - NTRIP_HOST + - NTRIP_PORT=${NTRIP_PORT:-2101} + - NTRIP_MOUNTPOINT + - NTRIP_AUTHENTIFICATE + - NTRIP_USERNAME + - NTRIP_PASSWORD + - NTRIP_STR2STR_RELAY_BACK=${NTRIP_STR2STR_RELAY_BACK:-0} + # ROS2/DDS + - RMW_IMPLEMENTATION + - ROS_LOCALHOST_ONLY + - ROS_DOMAIN_ID + - CYCLONEDDS_URI + - CYCLONEDDS_NETWORK_INTERFACE_NAME + - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE # set automatically by launch.sh volumes: - /dev:/dev - /sys/devices:/sys/devices diff --git a/docker-compose-mapping-gazebo.yaml b/docker-compose-mapping-gazebo.yaml index 3ed5bd82..a39f7dda 100644 --- a/docker-compose-mapping-gazebo.yaml +++ b/docker-compose-mapping-gazebo.yaml @@ -35,9 +35,14 @@ services: - CABOT_MODEL - PLAYBAG_RATE_CARTOGRAPHER - PLAYBAG_RATE_PC2_CONVERT + # ROS2/DDS - ROS_LOG_DIR - RMW_IMPLEMENTATION - ROS_DOMAIN_ID + - ROS_LOCALHOST_ONLY + - CYCLONEDDS_URI + - CYCLONEDDS_NETWORK_INTERFACE_NAME + - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE volumes: - /dev:/dev - /sys/devices:/sys/devices diff --git a/docker-compose-mapping.yaml b/docker-compose-mapping.yaml index 5870f91e..32e086e9 100644 --- a/docker-compose-mapping.yaml +++ b/docker-compose-mapping.yaml @@ -36,9 +36,14 @@ services: - CABOT_MODEL - PLAYBAG_RATE_CARTOGRAPHER - PLAYBAG_RATE_PC2_CONVERT + # ROS2/DDS - ROS_LOG_DIR - RMW_IMPLEMENTATION - ROS_DOMAIN_ID + - ROS_LOCALHOST_ONLY + - CYCLONEDDS_URI + - CYCLONEDDS_NETWORK_INTERFACE_NAME + - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE # ntrip client - NTRIP_CLIENT # rtklib, str2str_node, or ntrip_client - NTRIP_CLIENT_START_AT_LAUNCH=${NTRIP_CLIENT_START_AT_LAUNCH:-0} @@ -90,7 +95,14 @@ services: - XAUTHORITY=/tmp/.docker.xauth - NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video,display - NVIDIA_VISIBLE_DEVICES=all + # ROS2/DDS - ROS_LOG_DIR + - RMW_IMPLEMENTATION + - ROS_DOMAIN_ID + - ROS_LOCALHOST_ONLY + - CYCLONEDDS_URI + - CYCLONEDDS_NETWORK_INTERFACE_NAME + - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE volumes: - ./docker/home:/home/developer - ./cabot-navigation/cabot:/home/developer/diagnostic_ws/src/cabot